Assignment5)cs5957/media/Murdock 7... · Gravity) •...

Assignment  5  

Due  Tonight  at  11:59  PM  

Mo6on  Sensors  

I  couldn’t  think  of  a  clever  quip  this  week  

Mo6on  Sensors  

Not  Just  Games  

Coordinate  System  

Mo6on  Sensors  

•  Accelerometer  •  Gyroscope  •  Gravity  •  Linear  Accelera6on  •  Rota6on  Vector  

Accelerometer  

•  Measures  accelera6on  forces  on  each  axis  •  Always  hardware  based  •  Doesn’t  filter  out  gravity  •  Values  in  m/s2  

Gyroscope  

•  Measures  rate  of  rota6on  on  each  axis  •  Always  hardware  based  •  All  values  zero  at  rest  •  Measured  in  Rad/s  

Gravity  

•  Measures  the  force  of  gravity  along  each  axis  •  May  be  soRware  supported  using  accelerometer  and  gyroscope  

•  Magnitude  should  always  be  9.81  m/s2  

•  m/s2  

Linear  Accelera6on  

•  Measures  accelera6on  along  each  axis  EXCLUDING  gravity  

•  May  be  soRware  supported  via  Accelerometer  and  Gravity  sensors  

•  Measured  in  m/s2  

Rota6on  Vector  

•  Measures  components  of  rota6on  vector  •  Uses  a  slightly  different  coordinate  system  •  Unitless  (vector)  

Accessing  Sensors  

•  Accessed  via  SensorManager  •  All  represented  using  Sensor  class  and  accessed  via  SensorEventListener  

Processing  Sensor  Data  

•  All  sensors  provide  3  float  values.  •  Meaning  of  these  values  based  on  sensor.  

High  Pass  Filter  

•  Sensors  can  have  lots  of  noise.  •  Filter  smoothes  out  highs  and  lows.  

High  Pass  Filter  

•  Applies  a  filter  based  on  previous  values  •  Prevents  rapid  jumps  in  values  •  Overly  simple  smoothing  funciton  

Ques6ons?